version: 66.07
glider: 543
mission: 14
dive: 427
start: 10 29 115 11 54 38
data:
$ID,543
$MISSION,14
$DIVE,427
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25470.721
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.053406
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00012677554
$GPS1,291015,114502,-4303.276,837.858,72,1.3,82,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-72.9
$GPS2,291015,115416,-4303.315,838.015,29,1.1,29,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,270.1,3006,-27.0,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-49.8,0.0,0.0,0,59,0.00,0.00,-40.42,0.000,2,0.000,0.000,62,3234,1620,0,0,0,0,0,0
$GC,62,-0.60,-112.9,3.0,-1.3,5,87,6.97,1.15,-11.07,0.000,4,0.233,0.078,1702,3939,1960,0,0,0,0,0,0
$GC,143,-0.57,-112.9,14.7,-16.5,17,152,0.00,1.05,0.00,0.000,6,0.000,0.032,1702,3220,1962,0,0,0,0,0,0
$GC,202,-0.57,-112.9,23.8,-15.3,26,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3220,1962,0,0,0,0,0,0
$GC,351,-0.57,-112.9,47.0,-15.2,51,360,0.00,1.33,0.00,0.000,4,0.000,0.026,1702,2290,1962,0,0,0,0,0,0
$GC,380,-0.58,-112.9,50.8,-14.8,55,387,0.00,1.48,0.00,0.000,6,0.000,0.050,1695,3201,1962,0,0,0,0,0,0
$GC,733,-0.58,-112.9,103.7,-14.6,115,737,0.00,1.17,0.00,0.000,4,0.000,0.055,1690,3955,1961,0,0,0,0,0,0
$GC,896,-0.56,-112.9,128.4,-15.2,129,901,0.08,1.08,0.00,0.000,6,0.160,0.030,1713,3214,1962,0,0,0,0,0,0
$GC,1227,-0.60,-112.9,173.1,-12.8,160,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3214,1962,0,0,0,0,0,0
$GC,1549,-0.65,-112.9,213.0,-12.1,190,1553,0.00,1.17,0.00,0.000,4,0.000,0.055,1709,3957,1962,0,0,0,0,0,0
$GC,1711,-0.68,-112.9,233.7,-13.4,204,1715,0.00,1.10,0.00,0.000,6,0.000,0.030,1709,3193,1962,0,0,0,0,0,0
$GC,2043,-0.73,-112.9,273.2,-11.8,235,2047,0.12,1.23,0.00,0.000,4,0.098,0.055,1643,3955,1962,0,0,0,0,0,0
$GC,2151,-0.63,-112.9,292.0,-18.3,244,2160,0.15,1.08,0.00,0.000,6,0.166,0.028,1688,3215,1962,0,0,0,0,0,0
$GC,2475,-0.63,-112.9,335.7,-13.6,275,2478,0.00,1.30,0.00,0.000,4,0.000,0.025,1688,2290,1962,0,0,0,0,0,0
$GC,2536,-0.68,-112.9,343.5,-12.1,280,2545,0.00,1.50,0.00,0.000,6,0.000,0.049,1682,3219,1962,0,0,0,0,0,0
$GC,2861,-0.68,-112.9,389.0,-14.1,311,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,1682,3219,1962,0,0,0,0,0,0
$GC,3173,-0.68,-112.9,432.2,-14.1,330,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,1682,3219,1962,0,0,0,0,0,0
$GC,3482,-0.68,-112.9,476.0,-13.8,345,3486,0.00,1.15,0.00,0.000,4,0.000,0.055,1677,3956,1962,0,0,0,0,0,0
$GC,3595,-0.67,-112.9,493.5,-15.3,350,3599,0.00,1.08,0.00,0.000,6,0.000,0.030,1677,3213,1962,0,0,0,0,0,0
$GC,3928,-0.67,-112.9,541.6,-14.2,366,3932,0.00,1.17,0.00,0.000,4,0.000,0.055,1671,3956,1962,0,0,0,0,0,0
$GC,3980,-0.64,-112.9,549.2,-14.8,368,3983,0.00,1.10,0.00,0.000,6,0.000,0.030,1671,3198,1962,0,0,0,0,0,0
$GC,4307,-0.64,-112.9,594.9,-13.8,384,4311,0.00,1.20,0.00,0.000,4,0.000,0.054,1665,3958,1962,0,0,0,0,0,0
$GC,4376,-0.59,-112.9,605.1,-15.1,387,4380,0.12,1.08,0.00,0.000,6,0.155,0.031,1704,3221,1962,0,0,0,0,0,0
$GC,4710,-0.65,-112.9,640.1,-10.2,403,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,1704,3221,1962,0,0,0,0,0,0
$GC,5018,-0.71,-112.9,673.4,-10.8,418,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,1704,3220,1961,0,0,0,0,0,0
$GC,5327,-0.77,-112.9,706.2,-10.7,433,5331,0.15,1.35,0.00,0.000,4,0.089,0.028,1640,2292,1962,0,0,0,0,0,0
$GC,5354,-0.77,-112.9,710.0,-14.4,434,5357,0.00,1.48,0.00,0.000,6,0.000,0.047,1634,3207,1962,0,0,0,0,0,0
$GC,5681,-0.70,-112.9,762.2,-16.0,450,5683,0.17,0.00,0.00,0.000,6,0.184,0.000,1679,3208,1962,0,0,0,0,0,0
$GC,5990,-0.72,-112.9,800.3,-11.8,465,5994,0.00,1.17,0.00,0.000,4,0.000,0.055,1675,3958,1962,0,0,0,0,0,0
$GC,6082,-0.72,-112.9,812.0,-13.3,469,6085,0.00,1.10,0.00,0.000,6,0.000,0.031,1675,3194,1961,0,0,0,0,0,0
$GC,6414,-0.72,-112.9,852.2,-12.1,485,6417,0.00,1.20,0.00,0.000,4,0.000,0.056,1669,3951,1962,0,0,0,0,0,0
$GC,6441,-0.72,-112.9,855.9,-13.7,486,6445,0.00,1.08,0.00,0.000,6,0.000,0.031,1669,3209,1961,0,0,0,0,0,0
$GC,6768,-0.72,-112.9,896.2,-12.7,502,6772,0.00,1.17,0.00,0.000,4,0.000,0.056,1663,3952,1961,0,0,0,0,0,0
$GC,6824,-0.68,-112.9,904.0,-14.3,504,6827,0.00,1.08,0.00,0.000,6,0.000,0.031,1663,3211,1962,0,0,0,0,0,0
$GC,7146,-0.68,-112.9,949.0,-14.2,520,7150,0.00,1.17,0.00,0.000,4,0.000,0.056,1658,3951,1962,0,0,0,0,0,0
$GC,7284,-0.65,-112.9,970.9,-16.2,526,7289,0.10,1.08,0.00,0.000,6,0.162,0.031,1687,3217,1962,0,0,0,0,0,0
$STATE,7512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7512,begin apogee
$GC,7518,-0.09,0.0,1000.8,12.2,537,7661,0.60,0.00,129.52,1.809,6,0.142,0.000,1866,2914,1499,0,0,0,0,2,0
$STATE,7662,end apogee,CONTROL_FINISHED_OK
$STATE,7662,begin climb
$GC,7664,0.60,112.9,1006.2,0.0,544,7803,0.70,1.50,126.10,1.768,4,0.084,0.029,2099,2049,1038,0,0,0,0,1,0
$GC,7881,0.64,112.9,988.4,12.1,554,7885,0.00,1.50,0.00,0.000,6,0.000,0.046,2100,2921,1036,0,0,0,0,0,0
$GC,8209,0.64,112.9,947.5,12.6,570,8212,0.00,1.42,0.00,0.000,4,0.000,0.055,2100,3813,1033,0,0,0,0,0,0
$GC,8390,0.59,112.9,920.4,14.5,578,8394,0.00,1.33,0.00,0.000,6,0.000,0.028,2106,2904,1032,0,0,0,0,0,0
$GC,8723,0.57,112.9,873.9,14.4,594,8727,0.00,1.45,0.00,0.000,4,0.000,0.054,2107,3804,1032,0,0,0,0,0,0
$GC,8818,0.51,112.9,858.3,16.7,598,8823,0.12,1.27,0.00,0.000,6,0.190,0.028,2079,2925,1031,0,0,0,0,0,0
$GC,9146,0.54,112.9,818.5,12.3,614,9150,0.00,1.42,0.00,0.000,4,0.000,0.055,2078,3808,1031,0,0,0,0,0,0
$GC,9240,0.54,112.9,805.4,13.6,618,9245,0.00,1.30,0.00,0.000,6,0.000,0.028,2083,2920,1031,0,0,0,0,0,0
$GC,9569,0.57,112.9,763.8,12.3,634,9572,0.00,1.45,0.00,0.000,4,0.000,0.056,2083,3811,1031,0,0,0,0,0,0
$GC,9652,0.55,112.9,752.0,14.0,637,9659,0.00,1.30,0.00,0.000,6,0.000,0.029,2090,2922,1031,0,0,0,0,0,0
$GC,9968,0.57,112.9,712.4,12.4,653,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2922,1030,0,0,0,0,0,0
$GC,10277,0.57,112.9,674.9,12.1,668,10281,0.00,1.42,0.00,0.000,4,0.000,0.056,2090,3804,1031,0,0,0,0,0,0
$GC,10361,0.54,112.9,663.1,14.4,671,10368,0.00,1.27,0.00,0.000,6,0.000,0.028,2097,2922,1030,0,0,0,0,0,0
$GC,10677,0.54,112.9,623.0,12.2,687,10681,0.00,1.45,0.00,0.000,4,0.000,0.057,2096,3810,1030,0,0,0,0,0,0
$GC,10770,0.50,112.9,610.3,14.5,691,10774,0.10,1.30,0.00,0.000,6,0.183,0.029,2075,2924,1030,0,0,0,0,0,0
$GC,11103,0.55,112.9,572.8,11.1,707,11107,0.00,1.45,0.00,0.000,4,0.000,0.056,2075,3813,1030,0,0,0,0,0,0
$GC,11175,0.55,112.9,563.5,13.4,710,11179,0.00,1.30,0.00,0.000,6,0.000,0.029,2080,2924,1030,0,0,0,0,0,0
$GC,11503,0.59,112.9,525.2,11.8,726,11506,0.00,1.42,0.00,0.000,4,0.000,0.056,2080,3807,1030,0,0,0,0,0,0
$GC,11639,0.59,112.9,506.8,13.4,732,11642,0.00,1.30,0.00,0.000,6,0.000,0.029,2086,2922,1030,0,0,0,0,0,0
$GC,11971,0.63,112.9,467.9,11.1,748,11975,0.00,1.45,0.00,0.000,4,0.000,0.057,2087,3808,1030,0,0,0,0,0,0
$GC,12102,0.61,112.9,451.3,13.4,753,12108,0.00,1.30,0.00,0.000,6,0.000,0.030,2093,2929,1030,0,0,0,0,0,0
$GC,12418,0.63,112.9,413.9,11.8,769,12422,0.00,1.42,0.00,0.000,4,0.000,0.056,2093,3805,1030,0,0,0,0,0,0
$GC,12496,0.60,112.9,403.2,12.8,772,12500,0.00,1.30,0.00,0.000,6,0.000,0.028,2100,2917,1030,0,0,0,0,0,0
$GC,12826,0.60,112.9,364.5,11.6,802,12829,0.00,1.45,0.00,0.000,4,0.000,0.054,2100,3809,1030,0,0,0,0,0,0
$GC,12898,0.57,112.9,354.6,14.1,808,12907,0.00,1.30,0.00,0.000,6,0.000,0.029,2106,2924,1030,0,0,0,0,0,0
$GC,13223,0.57,112.9,316.1,11.7,839,13227,0.00,1.42,0.00,0.000,4,0.000,0.054,2107,3809,1030,0,0,0,0,0,0
$GC,13373,0.52,112.9,294.8,15.2,852,13378,0.12,1.30,0.00,0.000,6,0.179,0.028,2078,2921,1030,0,0,0,0,0,0
$GC,13705,0.58,112.9,257.1,10.8,883,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2921,1030,0,0,0,0,0,0
$GC,14027,0.64,112.9,224.7,9.6,913,14031,0.00,1.45,0.00,0.000,4,0.000,0.055,2078,3810,1030,0,0,0,0,0,0
$GC,14110,0.66,112.9,214.4,11.9,920,14119,0.00,1.30,0.00,0.000,6,0.000,0.029,2083,2924,1030,0,0,0,0,0,0
$GC,14436,0.70,112.9,182.0,9.2,951,14440,0.15,1.45,0.00,0.000,4,0.085,0.056,2143,3803,1030,0,0,0,0,0,0
$GC,14516,0.60,112.9,169.8,16.2,958,14521,0.15,1.30,0.00,0.000,6,0.194,0.028,2107,2903,1030,0,0,0,0,0,0
$GC,14849,0.60,112.9,130.1,11.8,989,14852,0.00,1.48,0.00,0.000,4,0.000,0.054,2108,3810,1030,0,0,0,0,0,0
$GC,15110,0.56,112.9,93.3,13.6,1016,15117,0.05,1.27,0.00,0.000,6,0.199,0.028,2099,2928,1030,0,0,0,0,0,0
$GC,15462,0.59,112.9,53.1,11.3,1077,15470,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2927,1030,0,0,0,0,0,0
$GC,15824,0.63,112.9,13.1,11.0,1138,15833,0.00,1.42,0.00,0.000,4,0.000,0.054,2098,3806,1030,0,0,0,0,0,0
$GC,15853,0.63,112.9,9.3,12.3,1142,15862,0.00,1.27,0.00,0.000,6,0.000,0.028,2103,2926,1030,0,0,0,0,0,0
$STATE,15904,end climb,SURFACE_DEPTH_REACHED
$STATE,15904,begin surface coast
$FINISH,1.7,1.026499
$STATE,15935,end surface coast,CONTROL_FINISHED_OK
$STATE,15935,begin surface
$SM_CCo,15950,42.50,0.136,0,0,680,200.16
$SM_GC,2.82,0.00,0.00,42.50,0.000,0.000,0.136,73,3220,680,-5.72,0.25,200.16
$IRIDIUM_FIX,-4247.91,837.82,240808,202045
$TT8_MAMPS,0.027713
$HUMID,64.09
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,21.0,78.978
$10V_AH,9.9,52.065
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.325,80.950,255.625,42.500,0.000,26.974,44.569,317.876,0.000,0.000,31.624,2910.645,9749.131,408.923,3184.264,288.369,0.000,1597.641,0.000,2755.632,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,78.030,1809.225,136.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.907,811.416,870.971,86.758,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,66986,1155
$CAP_FILE_SIZE,158560,0
$CFSIZE,259252224,222584832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,291015,162230,-4303.631,838.046,42,1.0,42,-25.1